Communication profiles73Modes of operationThe operation mode defines the behaviour of the drive. DSP 402defines following operation modes:• Homing mode• Profile position mode• Interpolated position mode• Profile velocity mode• Profile torque mode• Velocity modeFCAN-01 supports minimal implementation of the operationmodes. Operation mode support is drive-specific (see figure 1).Interpolated position mode is not supported.In this chapter scalings of the reference and actual values aredescribed for each operation mode. Operation-mode-specificobjects are defined in the CANopen Object Dictionary on page111.In ACSM1, the mode of operation is automatically selectedaccording to the control mode configured with parameter 34.03EXT1 CTRL MODE, 34.04 EXT1 CTRL MODE2 or 34.05 EXT2CTRL MODE1 (depending on the current control location). Thecorrect reference scaling must be selected with par. 50.04 FBAREF1 MODESEL.If the value of parameter 50.04 FBA REF1 MODESEL and 50.05FBA REF2 MODESEL of ACSM1 is (5) AUTO, it is possible to setthe mode of operation with object 6060h. For more information,see Standardised device profile area DSP 402 (6000...9FFF).Homing modeHoming mode describes various methods of finding a homeposition, or zero point. Either limit switches at the ends of travel ora home switch in mid travel are used. Most of the methods alsouse the index (zero) pulse from an incremental encoder. For more
